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<h2>Key controls</h2>

<h3>Switching between tools</h3>
<p>
<em>These controls work in all modes, except for tools capturing all keys (Select tool).</em>
<table border="0" cellspacing="0" cellpadding="3">
  <tr class="odd">
    <td class="key">C</td>
    <td>Switch to the Focus Camera tool.</td>
  </tr>
  <tr class="even">
    <td class="key">M</td>
    <td>Switch to the Move-Camera tool.</td>
  </tr>
  <tr class="odd">
    <td class="key">N</td>
    <td>Switch to the Measure tool.</td>
  </tr>
  <tr class="even">
    <td class="key">U</td>
    <td>Switch to the Publish Point tool.</td>
  </tr>
  <!--<tr class="even">-->
    <!--<td class="key">I</td>-->
    <!--<td>Switch to the Interact tool.</td>-->
  <!--</tr>-->
  <tr class="odd">
    <td class="key">S</td>
    <td>Switch to the Select tool.</td>
  </tr>
  <tr class="even">
    <td class="key">G</td>
    <td>Switch to the 2D Goal Pose tool.</td>
  </tr>
  <tr class="even">
    <td class="key">P</td>
    <td>Switch to the 2D Pose Estimate tool.</td>
  </tr>
</table>
</p>

<h3>Controlling the viewpoint</h3>
<p>
<em>These controls only work while using the <b>Move Camera</b> and <b>Interact</b> tools.</em>
<table border="0" cellspacing="0" cellpadding="3">
  <tr class="odd">
    <td class="key">F</td>
    <td>Move the focus to the 3D point under the mouse.  This does not work for all display objects or all computers (yet).</td>
  </tr>
  <tr class="even">
    <td class="key">Z</td>
    <td>Jump back to looking at the origin, the default view position.</td>
  </tr>
</table>
</p>
<p>
<em>This control only works while using the <b>Select</b> tool.</em>
<table border="0" cellspacing="0" cellpadding="3">
  <tr class="odd">
    <td class="key">F</td>
    <td>Move the focus to the centroid of the currently-selected objects.</td>
  </tr>
</table>
</p>

<h3>Modifying Displays list</h3>
<p>
<table border="0" cellspacing="0" cellpadding="3">
  <tr class="odd">
    <td class="key">Ctrl-N</td>
    <td>Add a display</td>
  </tr>
  <tr class="even">
    <td class="key">Ctrl-X</td>
    <td>Remove a display</td>
  </tr>
  <tr class="odd">
    <td class="key">Ctrl-R</td>
    <td>Rename a display</td>
  </tr>
</table>
</p>

<h3>File operations</h3>
<p>
<table border="0" cellspacing="0" cellpadding="3">
  <tr class="odd">
    <td class="key">Ctrl-O</td>
    <td>Open a config file</td>
  </tr>
  <tr class="even">
    <td class="key">Ctrl-S</td>
    <td>Save to a config file (opens file chooser)</td>
  </tr>
  <tr class="odd">
    <td class="key">Ctrl-Q</td>
    <td>Quit RViz, saving current config into ~/.rviz/display_config first.</td>
  </tr>
</table>
</p>

<h2>Mouse controls</h2>

<h3>Orbit view controller</h3>
<p>
  <em>
  In this view, the viewpoint is always aimed at a focal point.  You
  can move around the point (orbit it) or you can move the point
  itself.
  </em>
<table border="0" cellspacing="0" cellpadding="3">
  <tr class="odd">
    <td class="key">Left</td>
    <td>Drag to rotate around the focal point.</td>
  </tr>
  <tr class="even">
    <td><div class="key">Middle</div> or<div class="key">Shift-Left</div></td>
    <td>Drag to move the focal point.</td>
  </tr>
  <tr class="odd">
    <td class="key">Scroll Wheel</td>
    <td>Roll up or down to zoom towards or away from the focal point.</td>
  </tr>
  <tr class="even">
    <td class="key">Right</td>
    <td>Drag up or down to zoom towards or away from the focal point.</td>
  </tr>
  <tr class="odd">
    <td class="key">Shift-Right</td>
    <td>Drag up or down to move the focal point forward or backward.</td>
  </tr>
</table>
</p>

<h3>XYOrbit view controller</h3>
<p>
  <em>
    Similar to the Orbit view controller, but the focal point is kept
    on the Z=0 (ground) plane.
  </em>
<table border="0" cellspacing="0" cellpadding="3">
  <tr class="odd">
    <td class="key">Left</td>
    <td>Drag to rotate around the focal point.</td>
  </tr>
  <tr class="even">
    <td><div class="key">Middle</div> or<div class="key">Shift-Left</div></td>
    <td>Drag to move the focal point in the ground plane.</td>
  </tr>
  <tr class="odd">
    <td class="key">Scroll Wheel</td>
    <td>Roll up or down to zoom towards or away from the focal point.</td>
  </tr>
  <tr class="even">
    <td class="key">Right</td>
    <td>Drag up or down to zoom towards or away from the focal point.</td>
  </tr>
</table>
</p>

<h3>FPS view controller</h3>
<p>
  <em>
    Inspired by first-person shooter games.  Drag to point your head.
  </em>
<table border="0" cellspacing="0" cellpadding="3">
  <tr class="odd">
    <td class="key">Left</td>
    <td>Dragging rotates the viewpoint in the direction of the drag.</td>
  </tr>
  <tr class="even">
    <td><div class="key">Middle</div> or<div class="key">Shift-Left</div></td>
    <td>Drag to strafe (translate) left/right and up/down.</td>
  </tr>
  <tr class="odd">
    <td class="key">Scroll Wheel</td>
    <td>Roll up or down to move the viewpoint forwards or back.</td>
  </tr>
  <tr class="even">
    <td class="key">Right</td>
    <td>Drag up or down to move the viewport forwards or back.</td>
  </tr>
</table>
</p>

<h3>TopDownOrtho view controller</h3>
<p>
  <em>
    Top-down orthographic view.
  </em>
<table border="0" cellspacing="0" cellpadding="3">
  <tr class="odd">
    <td class="key">Left</td>
    <td>Dragging left/right rotates the view.</td>
  </tr>
  <tr class="even">
    <td><div class="key">Middle</div> or<div class="key">Shift-Left</div></td>
    <td>Drag to move the viewpoint in the XY plane.</td>
  </tr>
  <tr class="odd">
    <td class="key">Scroll Wheel</td>
    <td>Roll up or down to zoom in or out.</td>
  </tr>
  <tr class="even">
    <td class="key">Right</td>
    <td>Drag up or down to zoom in or out.</td>
  </tr>
</table>
</p>

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